Workpiece supplying device, robot, and robot system

Abstract

A workpiece supplying device includes a pallet that has a stepped portion and accommodates a workpiece, a vibration unit that applies vibration to the pallet, and a posture change unit that changes a posture of the workpiece.

What is claimed is: 
     
       1. A workpiece supplying device comprising:
 a pallet that has a stepped portion and accommodates a workpiece; and 
 a vibration unit that applies vibration to the pallet to transport the workpiece in a circumferential direction along a front surface of the pallet, 
 wherein the pallet includes a posture change unit which changes a posture of the workpiece, and 
 wherein the pallet includes an edge portion configured to be positioned a step higher than a transportation surface portion for transporting the workpiece and formed in an outer circumferential portion of the pallet and a fixing portion configured to be positioned a step higher than the transportation surface portion and fixing the pallet to the vibration unit. 
 
     
     
       2. The workpiece supplying device according to  claim 1 ,
 wherein the posture change unit includes a first posture change unit which is provided on an upper surface of the stepped portion and changes the posture of the workpiece. 
 
     
     
       3. The workpiece supplying device according to  claim 2 ,
 wherein the first posture change unit includes a mounting portion in which the workpiece can be mounted and moved. 
 
     
     
       4. The workpiece supplying device according to  claim 3 , further comprising:
 a rotary portion that rotates the mounting portion. 
 
     
     
       5. The workpiece supplying device according to  claim 1 ,
 wherein the posture change unit includes a second posture change unit which is provided on a stepped surface of the stepped portion and changes the posture of the workpiece. 
 
     
     
       6. The workpiece supplying device according to  claim 5 ,
 wherein the second posture change unit is a protrusion which is provided on the stepped surface. 
 
     
     
       7. The workpiece supplying device according to  claim 5 ,
 wherein the posture change unit includes a third posture change unit which is provided on any one or both of a lower surface of the stepped portion and a stepped surface of the stepped portion and changes the posture of the workpiece. 
 
     
     
       8. The workpiece supplying device according to  claim 7 ,
 wherein the third posture change unit is a nozzle which ejects gas. 
 
     
     
       9. The workpiece supplying device according to  claim 1 ,
 wherein the posture change unit overturns the workpiece. 
 
     
     
       10. The workpiece supplying device according to  claim 1 ,
 wherein the pallet includes an arc portion in a planar view. 
 
     
     
       11. The workpiece supplying device according to  claim 10 ,
 wherein the arc portion has a substantial ring shape which includes a cut-off portion and is obtained by excluding a circle having a second radius that is a radius shorter than a first radius from a circle having the first radius, and 
 wherein on a mounting surface of the pallet, a friction coefficient in a first region on an outer side beyond a third radius which is a length obtained by subtracting a half of the difference between the first radius and the second radius from the first radius is lower than a friction coefficient in at least a portion of a second region on an inner side within the third radius. 
 
     
     
       12. The workpiece supplying device according to  claim 1 ,
 wherein the mounting surface of the pallet to which the workpiece is transported has a uniform friction coefficient. 
 
     
     
       13. A robot which picks the workpiece from the workpiece supplying device according to  claim 1 . 
     
     
       14. A robot which picks the workpiece from the workpiece supplying device according to  claim 2 . 
     
     
       15. A robot which picks the workpiece from the workpiece supplying device according to  claim 3 . 
     
     
       16. A robot which picks the workpiece from the workpiece supplying device according to  claim 4 . 
     
     
       17. A robot system comprising:
 the workpiece supplying device according to  claim 1 ; and 
 a robot which picks the workpiece from the workpiece supplying device. 
 
     
     
       18. A robot system comprising:
 the workpiece supplying device according to  claim 2 ; and 
 a robot which picks the workpiece from the workpiece supplying device. 
 
     
     
       19. A robot system comprising:
 the workpiece supplying device according to  claim 3 ; and 
 a robot which picks the workpiece from the workpiece supplying device. 
 
     
     
       20. A robot system comprising:
 the workpiece supplying device according to  claim 4 ; and 
 a robot which picks the workpiece from the workpiece supplying device.